/*********************************************************************
*
* Software License Agreement (BSD License)
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*  Author: Joel Cartwright
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*********************************************************************/

#ifndef _OSLCORE_TIMERMILLIS_H_
#define _OSLCORE_TIMERMILLIS_H_

/*
 * This file wraps ROS time functionality with an identical interface to old ost::TimerPort.
 * Doesn't implement _all_ methods of ost::TimerPort, only those
 * known to be used within OSL code, for simplicity.
 */

#include <stdint.h>

// thread.h gives us TimerPort, but also TIMEOUT_INF definition, used in ROS mode too.
#include <cc++/thread.h>

#include <ros/ros.h>
#include <ros/time.h>


namespace osl_core
{

typedef uint64_t timeout_t;

class TimerMillis
{
public:

    // Default is to use ros::Time, which may be a simulation clock.
    TimerMillis(bool useWallTime = false);

    void setUseWallTime(bool useWallTime);

    bool getUseWallTime();

    void setTimer(timeout_t timeout = 0);

    void incTimer(timeout_t timeout);

    timeout_t getTimer(void) const;

    void endTimer(void);

    inline static uint64_t rosTimeToMillis(ros::Time t) {
    	return t.sec * 1000 + t.nsec / 1000000;
    }

    inline static uint64_t rosTimeToMillis(ros::WallTime t) {
    	return t.sec * 1000 + t.nsec / 1000000;
    }

private:
	uint64_t expiry_time_millis_;
	bool active_;
	bool useWallTime_;
};

} // namespace

#endif // _OSL_CORE_TIMERMILLIS_H_
